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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49564完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 江茂雄(Mao-Hsiung Chiang) | |
| dc.contributor.author | Chun-Chen Wu | en |
| dc.contributor.author | 吳俊辰 | zh_TW |
| dc.date.accessioned | 2021-06-15T11:35:00Z | - |
| dc.date.available | 2017-08-25 | |
| dc.date.copyright | 2016-08-25 | |
| dc.date.issued | 2016 | |
| dc.date.submitted | 2016-08-16 | |
| dc.identifier.citation | [1] J. Twidell and G. Gaudiosi, 'Offshore Wind Power', 1 ed., Multi-Science Publishing Co. Ltd., 2014.
[2] D. J. Cerda Salzmann, 'Development of the Access System for Offshore Wind Turbines,' Ph.D. dissertation, Delft University of Technology, 2007. [3] CTruk, 'Products and Systems-MPC22', 2015. [Online]. Available: http://www.ctruk.com/products-and-systems/MPC22. [4] S. W. Bedford, 'Access Apparatus for Transferring from Vessels to Fixed Structures,' U.S. Patent 8 925 130 B2, Jan. 6, 2015. [5] Houlder, 'TAS steps up to turbine access challenge - Houlder', 2014. [Online]. Available: http://houlderltd.com/newsroom/tas-turbine-access-system-steps-access-challenge/. [6] Sine.ni.com, 'Control of a Hydraulic Motion Compensated Gangway to Improve Access to Offshore Wind Turbines - Solutions – National Instruments', 2015. [Online]. Available: http://sine.ni.com/cs/app/doc/p/id/cs-14813. [7] E. R. P. Dudson and F. V. Perdrix, 'Transfer Apparatus for Vessels,' U.S. Patent 2013/0198979 A1, Aug. 8, 2013. [8] S. Leske, 'Device for the Safe Transfer of Personnel or Material from an Object Configured as a Boat to an Object Moving relative Thereto,and Boat Comprising the Device,' U.S. Patent 2011/0038691 A1, Feb. 17, 2011. [9] Momac-robotics.de, 'Download MOTS - Momac Offshore Access System', 2015. [Online]. Available: http://www.momac-robotics.de/Download-MOTS.html. [10] S. Leske. 'Momac Offshore Transfer System'. [Online]. Available: http://www.momac-robotics.de/db/docs/MOTS-presentation-GB-V110310-Handout-version.pdf [11] Ampelmann,'E-type-Ampelmann',2015.[Online].Available: http://www.ampelmann.nl/products/e-type/. [12] J. A. Keuning, 'Vessel with System for Transferring Persons or Goods and such System,'European Patent 2 716 539 A1, Sep. 4, 2014. [13] J. J. Craig, 'Introduction to Robotics Mechanics and Control', 3 ed., Pearson/Prentice Hall, 2005. [14] M. W. Spong, S. Hutchinson, and M. Vidyasaga, 'Robot Modeling and Control', 1 ed., John Wiley & Sons Inc., 2006. [15] Y. P. Y. M.H. Chiang, F.L. Yang, Y.N. Chen, 'Integrated Control of Clamping Force and Energy-saving in Hydraulic Injection Moulding Machines Using Decoupling Fuzzy Sliding-mode Control,' International Journal of Advanced Manufacturing Engineering, vol. 27, pp. 53-62, November 2005. [16] 葉永培, '解耦合自組織模糊滑動平面控制應用於閥控液壓缸系統變排量節能控制與伺服控制之整合控制研究,' 碩士論文, 國立台灣科技大學, 2003. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49564 | - |
| dc.description.abstract | 本研究旨在發展離岸風場運轉維護所需之離岸風機登塔系統，進行機構、液壓伺服系統、控制系統之設計、動態模型建立以及實驗原型系統建立及實測，進行動態模擬分析與實驗原型系統實驗，以期有效降低登塔點垂向高度變化、登塔點橫搖角度及登塔點垂向加速度，以達到主動式運動補償，使維修人員更安全的進出離岸風機與維修船。
模擬部分首先以SOLIDWORKS所設計之機構3D圖檔，匯入至ADAMS機構動態模擬軟體建立機構動態模型；推導液壓驅動系統動態模式及整合控制策略與控制理論進行控制系統設計，以MATLAB/SIMULINK來實現。最終將ADAMS機構動態模型匯出至MATLAB/SIMULINK環境，整合ADAMS之機構動態及MATLAB/SIMULINK之液壓系統及控制系統，進行全系統整合動態模擬分析，驗證離岸風機登塔系統之控制效果。 實驗部分以本研究所發展之離岸風機登塔實驗原型系統，配合控制策略進行離岸風機登塔系統閉迴路控制實驗，實際驗證離岸風機登塔系統控制效果，預期有效降低登塔點垂向高度變化、登塔點橫搖角度及登塔點垂向加速度，實現離岸風機登塔系統主動運動控制補償。 | zh_TW |
| dc.description.abstract | This study aims to investigate a new offshore wind turbine access system (TAS), including design, dynamic modeling and simulation of TAS mechanism, hydraulic driving system, control system, and test rig set up for dynamic simulation and experiment. The vertical height, the rolling angle and the vertical acceleration of the end effector of TAS can be effectively reduced through the active motion compensation control of TAS for improving the access safety of the offshore wind turbine.
For simulation, through the mechanism design and importing the 3D models drafted by SOLIDWORKS software, the dynamic modeling and simulation can be implemented by software ADAMS (Automated Dynamic Analysis of Mechanical Systems). Besides, the hydraulic driving system, the closed-loop control system of the active motion compensation control are designed, dynamically modeled and implemented via MATLAB/SIMULINK. Then, through developing the co-simulation of ADAMS and MATLAB/SIMULINK, the dynamic model of TAS is exported from ADAMS into the MATLAB/SIMULINK environment to process the dynamic co-simulation and control of TAS for verifying the effect of active compensation control system of TAS. Besides, a full-scale test rig of the TAS is set up for verifying the effect of active compensation control system of TAS experimentally. Through the active compensation control experiment in the full-scale test rig, the vertical height variation, the rolling angle and the vertical acceleration of the end effector of TAS can be reduced and verified by practical experiments. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T11:35:00Z (GMT). No. of bitstreams: 1 ntu-105-R03525076-1.pdf: 3772206 bytes, checksum: df47e1b955044a05b8526d40737e5152 (MD5) Previous issue date: 2016 | en |
| dc.description.tableofcontents | 致謝 ………………………………………………………………………………I
摘要 …………………………………………………………………………….III Abstract ……………………………………………………………………………...V 目錄 ……………………………………………………………………………VII 圖目錄 …………………………………………………………………………….IX 表目錄 ……………………………………………………………………………XV 第一章 緒論 1 1-1 前言 1 1-2 文獻回顧 1 1-2-1 入塢方式(I)、(II) 2 1-2-2 入塢方式 (III) 4 1-3 研究動機與目的 5 1-3-1 研究動機 5 1-3-2 研究目的 6 1-4 本文架構 6 第二章 系統架構 8 2-1 離岸風機登塔系統機構設計 8 2-1-1 船體運動自由度 8 2-1-2 離岸風機登塔系統機構外型 8 2-1-3 離岸風機登塔系統設計規格 11 2-2 離岸風機登塔實驗原型系統架構 14 第三章 運動學分析 18 3-1 逆向運動學 19 3-2 正向運動學 26 第四章 動力學分析 27 4-1 離岸風機登塔系統液壓伺服系統數學模型 27 4-2 離岸風機登塔系統機構動態建模 32 第五章 控制理論及控制策略 35 5-1 模糊滑動控制理論 35 5-1-1 建立歸屬函數 37 5-1-2 解模糊化規則 40 5-1-3 參數 、 、 與 設定 41 5-2 離岸風機登塔系統實驗控制策略 43 第六章 動態模擬分析 44 6-1 模擬環境設定 44 6-2 離岸風機登塔系統模擬結果 46 第七章 實驗結果與討論 53 7-1單軸軌跡控制實驗 53 7-2 不同波浪狀態之主動控制實驗 59 7-3 不同控制器之實驗 84 7-3-1 PID控制器之實驗 84 7-3-2 FSMC與PID之實驗結果比較 89 7-4加負載實驗 92 7-5不同波浪週期之主動控制實驗 97 第八章 結論與未來展望 103 8-1結論 103 8-2未來展望 104 參考文獻 105 | |
| dc.language.iso | zh-TW | |
| dc.subject | 動態模擬 | zh_TW |
| dc.subject | 離岸風機登塔系統 | zh_TW |
| dc.subject | 主動式運動補償控制 | zh_TW |
| dc.subject | 運動平台 | zh_TW |
| dc.subject | 運動學分析 | zh_TW |
| dc.subject | dynamic simulation | en |
| dc.subject | experiment | en |
| dc.subject | offshore wind turbine access system | en |
| dc.subject | active motion compensation | en |
| dc.subject | motion compensation control | en |
| dc.subject | kinematics analysis | en |
| dc.title | 三軸主動式運動補償離岸風機登塔系統之模擬與實驗 | zh_TW |
| dc.title | Simulation and Experiment of a Turbine Access System with Three-Axial Active Motion Compensation | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.coadvisor | 陳義男(Yih-Nan Chen) | |
| dc.contributor.oralexamcommittee | 鍾清枝,江茂欽,林浩庭 | |
| dc.subject.keyword | 離岸風機登塔系統,主動式運動補償控制,運動平台,運動學分析,動態模擬, | zh_TW |
| dc.subject.keyword | offshore wind turbine access system,active motion compensation,motion compensation control,kinematics analysis,dynamic simulation,experiment, | en |
| dc.relation.page | 106 | |
| dc.identifier.doi | 10.6342/NTU201602381 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2016-08-17 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
| 顯示於系所單位： | 工程科學及海洋工程學系 | |
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